Intelligent self-tuning controllers for robot manipulators

Antonios Tzes

    Research output: Contribution to conferencePaper

    Abstract

    The design problem of an intelligent self-tuning controller, characterized by a two-layer hierarchical structure, is addressed. The layers are organized according to their functions and goals. The control level is implemented as a self-tuning adaptive controller, where a variety of control laws and identification methods exist as candidates for the controller and identification portions, respectively. Integration of a controller-estimator pair is carried out according to the guidelines provided by the coordination level. The organization level, implemented as a Petri network, supervises the control level, serves as an interface between the user and the system, and resolves several issues which arise from the coordination process between the two layers.

    Original languageEnglish (US)
    Pages5-8
    Number of pages4
    StatePublished - Dec 1 1990
    EventProceedings of the 1990 IEEE International Conference on Systems Engineering - Pittsburgh, PA, USA
    Duration: Aug 9 1990Aug 11 1990

    Other

    OtherProceedings of the 1990 IEEE International Conference on Systems Engineering
    CityPittsburgh, PA, USA
    Period8/9/908/11/90

    Fingerprint

    Manipulators
    Tuning
    Robots
    Controllers
    Level control
    Identification (control systems)

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Tzes, A. (1990). Intelligent self-tuning controllers for robot manipulators. 5-8. Paper presented at Proceedings of the 1990 IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA, .

    Intelligent self-tuning controllers for robot manipulators. / Tzes, Antonios.

    1990. 5-8 Paper presented at Proceedings of the 1990 IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA, .

    Research output: Contribution to conferencePaper

    Tzes, A 1990, 'Intelligent self-tuning controllers for robot manipulators' Paper presented at Proceedings of the 1990 IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA, 8/9/90 - 8/11/90, pp. 5-8.
    Tzes A. Intelligent self-tuning controllers for robot manipulators. 1990. Paper presented at Proceedings of the 1990 IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA, .
    Tzes, Antonios. / Intelligent self-tuning controllers for robot manipulators. Paper presented at Proceedings of the 1990 IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA, .4 p.
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